/PROG  JIAYOU_WIRST
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "HL_MOTION";
PROG_SIZE	= 1486;
CREATE		= DATE 16-01-01  TIME 20:32:38;
MODIFIED	= DATE 22-08-09  TIME 22:11:54;
FILE_NAME	= ;
VERSION		= 0;
LINE_COUNT	= 32;
MEMORY_SIZE	= 1990;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/MN
   1:  LBL[1:WIRST456] ;
   2:J P[1] 100% CNT0    ;
   3:J P[2] 100% CNT0    ;
   4:J P[3] 100% CNT0    ;
   5:J P[4] 100% CNT0    ;
   6:J P[5] 100% CNT0    ;
   7:J P[6] 100% CNT0    ;
   8:J P[9] 100% CNT0    ;
   9:J P[7] 100% CNT0    ;
  10:J P[8] 100% CNT0    ;
  11:  JMP LBL[1] ;
  12:  WAIT  10.00(sec) ;
  13:   ;
  14:  LBL[2:J1J2J3] ;
  15:J P[11] 100% CNT0    ;
  16:J P[12] 100% CNT0    ;
  17:J P[13] 100% CNT0    ;
  18:J P[14] 100% CNT0    ;
  19:J P[15] 100% CNT0    ;
  20:  JMP LBL[2] ;
  21:  WAIT  10.00(sec) ;
  22:   ;
  23:  LBL[5:J2 J3] ;
  24:J P[10] 100% CNT0    ;
  25:J P[16] 100% CNT0    ;
  26:  JMP LBL[5] ;
  27:   ;
  28:   ;
  29:   ;
  30:   ;
  31:   ;
  32:   ;
/POS
P[1]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -2255.688  mm,	Y = -1739.974  mm,	Z =  -237.581  mm,
	W =  -158.036 deg,	P =    76.718 deg,	R =    60.702 deg
};
P[2]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -1633.703  mm,	Y = -3035.795  mm,	Z =  1194.978  mm,
	W =   102.407 deg,	P =    -7.396 deg,	R =   -53.428 deg
};
P[3]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -2255.688  mm,	Y = -1739.975  mm,	Z =  -237.581  mm,
	W =  -158.036 deg,	P =    76.718 deg,	R =    60.702 deg
};
P[4]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -1135.798  mm,	Y =  -922.659  mm,	Z =   302.115  mm,
	W =  -169.488 deg,	P =    14.366 deg,	R =    36.405 deg
};
P[5]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'F U T, 1, 0, -1',
	X = -2761.516  mm,	Y = -2282.087  mm,	Z =   139.633  mm,
	W =   -14.078 deg,	P =    67.814 deg,	R =  -149.567 deg
};
P[6]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -2255.687  mm,	Y = -1739.976  mm,	Z =  -237.581  mm,
	W =  -158.036 deg,	P =    76.718 deg,	R =    60.702 deg
};
P[7]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -2903.746  mm,	Y = -1019.755  mm,	Z =   297.880  mm,
	W =   -99.881 deg,	P =    36.352 deg,	R =   116.275 deg
};
P[8]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -2255.687  mm,	Y = -1739.977  mm,	Z =  -237.581  mm,
	W =  -158.036 deg,	P =    76.718 deg,	R =    60.702 deg
};
P[9]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, -1',
	X = -1454.609  mm,	Y = -2749.408  mm,	Z =   405.593  mm,
	W =   100.434 deg,	P =    30.144 deg,	R =   -37.369 deg
};
P[10]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2282.058  mm,	Y = -2552.585  mm,	Z =   536.407  mm,
	W =  -173.079 deg,	P =     3.976 deg,	R =   -84.869 deg
};
P[11]{
   GP1:
	UF : 0, UT : 1,	
	J1=   220.118 deg,	J2=   -83.743 deg,	J3=    89.972 deg,
	J4=    10.083 deg,	J5=   -10.985 deg,	J6=  -110.216 deg
};
P[12]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'F U T, 0, 0, 0',
	X =   648.235  mm,	Y =  3484.944  mm,	Z =   714.156  mm,
	W =   -88.702 deg,	P =    16.374 deg,	R =    10.817 deg
};
P[13]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  2840.150  mm,	Y =  -807.783  mm,	Z =  -784.795  mm,
	W =  -179.804 deg,	P =    40.499 deg,	R =  -105.958 deg
};
P[14]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3281.876  mm,	Y =  -127.440  mm,	Z =  -428.554  mm,
	W =  -156.047 deg,	P =    72.325 deg,	R =   -91.859 deg
};
P[15]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 1, 0, 0',
	X = -3203.729  mm,	Y = -1210.646  mm,	Z =  1763.930  mm,
	W =  -104.247 deg,	P =   -30.027 deg,	R =   135.435 deg
};
P[16]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  1804.582  mm,	Y = -2255.373  mm,	Z = -1982.131  mm,
	W =   134.714 deg,	P =    32.598 deg,	R =  -102.829 deg
};
/END
